CN116604615B - Robot joint testing device - Google Patents
Robot joint testing device Download PDFInfo
- Publication number
- CN116604615B CN116604615B CN202310859925.0A CN202310859925A CN116604615B CN 116604615 B CN116604615 B CN 116604615B CN 202310859925 A CN202310859925 A CN 202310859925A CN 116604615 B CN116604615 B CN 116604615B
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- frame
- fixed
- mechanical arm
- splint
- arm
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- 238000012360 testing method Methods 0.000 title claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 11
- 238000013519 translation Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 7
- 230000005012 migration Effects 0.000 claims description 2
- 238000013508 migration Methods 0.000 claims description 2
- 238000004088 simulation Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 7
- 238000005299 abrasion Methods 0.000 abstract description 6
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 230000009471 action Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides a robot joint testing device which comprises a workbench, wherein a truss is fixed at the top of the workbench, a tail end clamping mechanism is arranged on one side of the surface of the workbench, a mechanical arm is arranged at the top of the tail end clamping mechanism, the size of the mechanical arm is regulated under the cooperation of a bidirectional screw rod, an adjusting screw rod and the bidirectional screw rod, so that the mechanical arm can be stably clamped in response to mechanical arms with different sizes, the applicability of the device is improved, compared with the prior art, the front end and the rear end of the mechanical arm are clamped and fixed through the tail end clamping mechanism and the front end clamping mechanism, then the mechanical arm base is driven to rotate through the tail end clamping mechanism and the front end clamping mechanism to drive the mechanical arm to fold and unfold, the multi-rotating shaft multi-dimensional torque and abrasion degree of the mechanical arm are tested, the weight is increased to the front end of the mechanical arm through a counterweight mechanism, the influence of the mechanical arm under the bearing effect of the mechanical arm in actual use is simulated, and the testing accuracy is higher.
Description
Technical Field
The invention relates to the technical field of robot joint testing, in particular to a robot joint testing device.
Background
The robot realizes the motion trail output of different degrees of freedom through the combined motion of a plurality of joints, thereby completing the preset action. In the working process of the robot, the torque and the bending moment applied by the load to the joints of the robot can influence the stability of the output power of the joints, so that the output torque of the joints fluctuates. If the output torque fluctuates greatly, joint vibration may be induced, and loud noise is generated, and the joints are easily worn or even damaged. Therefore, it is important to test the fluctuation of the load output torque of the joints before the robot is put into use.
Patent CN115493819a proposes a robot joint testing device, through the design of mount installation slide, initiative fixation clamp adjustment tank, fixation clamp adjustment mechanism, initiative fixation clamp adjustment mechanism, can test the joint robot of multiple different scales, the mechanism installation base top is offered and is used for adjusting the slide movable groove of interval between mount installation slide and the mounting panel of mounting, and initiative fixation clamp is equipped with the fixation clamp adjustment mechanism that is used for adjusting the interval between with passive fixation clamp, initiative fixation clamp is equipped with initiative fixation clamp adjustment mechanism equally, also can adjust, make the interval between mount installation slide and the mounting panel of mounting through above three-point design, interval between initiative fixation clamp and the passive fixation clamp and the interval between the initiative fixation clamp all can be adjusted and can be applicable to the test of moment of torsion and wearing degree of joint robot of shorter or coarser.
The technical scheme disclosed in the above patent document is to fix the joint robot by two groups of adjustable clamping devices, and then to test the torque tolerance of the robot by rotation, but common joint robots such as logistics mechanical arms have a plurality of rotating shafts and rotating dimensions, and only separate rotating dimensions can be tested by means of rotation of two clamping points, and the actual use situations cannot be simulated for testing, including the weight born by the clamping object at the front end of the mechanical arm, which can have a certain influence on the torque and abrasion degree testing accuracy of the joint robot.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide the robot joint testing device so as to solve the problems in the background technology, the invention has novel structure, the front end and the rear end of the mechanical arm are clamped and fixed through the tail end clamping mechanism and the front end clamping mechanism, then the mechanical arm base is driven to rotate through the tail end clamping mechanism and the front end clamping mechanism drives the mechanical arm to fold and unfold, the mechanical arm is tested by multi-rotating-shaft multi-dimensional torque and abrasion degree, the weight is increased to the front end of the mechanical arm through the counterweight mechanism, the influence on the torque and the abrasion degree of the mechanical arm under the bearing effect in actual use is simulated, and the testing accuracy is higher.
In order to achieve the above object, the present invention is realized by the following technical scheme: robot joint testing arrangement, comprising a workbench, the workstation top is fixed with the truss, and one side is equipped with tail end fixture on the workstation surface, and installs the arm at tail end fixture top, the arm bottom rotates along tail end fixture, be equipped with the front end fixture to arm front end centre gripping is fixed on the truss, and front end fixture one side is equipped with the counter weight mechanism to arm front end counter weight simulation actual use sight, be equipped with the translation mechanism that drives front end fixture horizontal migration on the truss surface, torque sensor is all installed in the pivot of the level of arm and the vertical dimension.
Further, tail end fixture includes the mount pad, the mount pad is fixed on the workstation, and the inside second motor that is fixed with of mount pad, the carousel is installed through the bearing rotation in the mount pad top, and the second motor output is fixed with the carousel, the carousel has offered on the surface and has been removed the groove, and removes the inside symmetry sliding connection of groove and have two third splint, it installs two-way lead screw to remove the inslot portion through the bearing rotation, and third splint bottom meshing cup joints the both ends at two-way lead screw, be provided with anti-skidding line on the inboard surface of third splint.
Further, the translation mechanism comprises a unidirectional screw rod, the unidirectional screw rod is rotatably installed at the top of the truss through a bearing, a first motor is fixed on one side of the truss, the output end of the first motor is fixed with the unidirectional screw rod, the unidirectional screw rod is meshed and sleeved with a meshing plate on the surface, a sliding frame is fixed at the bottom of the meshing plate, and the sliding frame horizontally slides along the truss.
Further, front end fixture is including accomodating the frame, the both sides of sliding frame are fixed with accomodate the frame, and accomodate the inside slip grafting of frame and have the board that stretches out, stretch out and be fixed with first splint on the inboard surface of board bottom, the outside meshing grafting that stretches out the board and correspond first splint has adjusting screw, and adjusting screw one end is connected with first splint rotation through the bearing.
Further, a disc is rotatably mounted on the inner side surface of the first clamping plate through a bearing, and a rubber layer is arranged on the surface of the disc.
Further, the counter weight mechanism includes the installing frame, the installing frame has been cup jointed near the position that stretches out the board to the arm front end, and the inside symmetry of installing frame is equipped with two second splint, the installing frame corresponds the position at two second splint tops and rotates through the bearing and install two-way screw rod, and second splint top meshing cup joints on two-way screw rod surface.
Further, the outer walls of the two sides of the mounting frame are respectively fixed with a convex column, the surfaces of the convex columns are rotatably sleeved with a swivel, the two sides of the swivel are fixedly provided with hanging ropes, the bottoms of the hanging ropes are fixedly provided with a placing frame, and balancing weights can be added in the placing frame.
Further, one side of the installation frame, which is close to the storage frame, is fixed with a telescopic plate, and the extension end of the telescopic plate is rotationally connected with the outer wall of the storage frame through a rotating shaft.
The invention has the beneficial effects that: the robot joint testing device comprises a workbench; truss; a translation mechanism; a unidirectional screw rod; engaging the plate; a first motor; a sliding frame; a front end clamping mechanism; a storage frame; a protruding plate; a first clamping plate; a disc; adjusting a screw; a weight mechanism; a mounting frame; a second clamping plate; a bidirectional screw; a telescoping plate; a convex column; a swivel; hanging ropes; placing a frame; a tail end clamping mechanism; a mounting base; a second motor; a turntable; a third clamping plate; a two-way screw rod; a moving groove; anti-skid lines; a mechanical arm;
1. according to the robot joint testing device, under the action of the anti-skid patterns and the rubber layer, the friction force of the electric clamping plate and the disc to the tail end and the front end of the mechanical arm during clamping is increased, so that the robot joint testing device can be kept stable during rotation.
2. According to the robot joint testing device, the rotating rings are arranged on the protruding columns on two sides of the mounting frame under the action of the protruding columns and the rotating rings, the balancing weights are placed inside the placing frame, the placing frame with the balancing weights placed under the action of gravity and the gravity is kept in a vertical state when the mechanical arm rotates, and the balancing weights are prevented from falling.
3. According to the robot joint testing device, the sizes of the mechanical arms are adjusted through the cooperation of the bidirectional screw rod, the adjusting screw rod and the bidirectional screw rod, so that the robot joint testing device can be used for stably clamping the mechanical arms with different sizes, and the applicability of the device is improved.
4. This robot joint testing arrangement is fixed for prior art through tail end fixture and front end fixture to the front and back end centre gripping of arm, drives the rotation of arm base and the folding expansion of front end fixture drive arm through tail end fixture afterwards, carries out the test of multi-axis multidimensional degree moment of torsion and wearing degree to the arm, increases weight to the arm front end through counter weight mechanism, and the arm is under the bearing effect when simulating in-service use, to the influence of moment of torsion and wearing degree for the test accuracy is higher.
Drawings
FIG. 1 is a schematic view of the overall structure of a robot joint testing device according to the present invention;
FIG. 2 is a schematic view of a tail end clamping mechanism of the robot joint testing device according to the present invention;
FIG. 3 is a schematic view of a translation mechanism of the robotic joint testing apparatus of the present invention;
FIG. 4 is a schematic view of a front end clamping mechanism of the robot joint testing device according to the present invention;
FIG. 5 is a schematic view of a weight mechanism of the robot joint testing device of the present invention;
in the figure: 1. a work table; 2. truss; 3. a translation mechanism; 31. a unidirectional screw rod; 32. engaging the plate; 33. a first motor; 34. a sliding frame; 4. a front end clamping mechanism; 41. a storage frame; 42. a protruding plate; 43. a first clamping plate; 44. a disc; 45. adjusting a screw; 5. a weight mechanism; 51. a mounting frame; 52. a second clamping plate; 53. a bidirectional screw; 54. a telescoping plate; 55. a convex column; 56. a swivel; 57. hanging ropes; 58. placing a frame; 6. a tail end clamping mechanism; 61. a mounting base; 62. a second motor; 63. a turntable; 64. a third clamping plate; 65. a two-way screw rod; 66. a moving groove; 67. anti-skid lines; 7. and (5) a mechanical arm.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
Referring to fig. 1 to 5, the present invention provides a technical solution: the robot joint testing device comprises a workbench 1, a truss 2 is fixed at the top of the workbench 1, a tail end clamping mechanism 6 is arranged on one side of the surface of the workbench 1, a mechanical arm 7 is arranged at the top of the tail end clamping mechanism 6, the bottom of the mechanical arm 7 rotates along the tail end clamping mechanism 6, a front end clamping mechanism 4 which clamps and fixes the front end of the mechanical arm 7 is arranged on the truss 2, a counterweight mechanism 5 which simulates actual use situations of the front end counterweight of the mechanical arm 7 is arranged on one side of the front end clamping mechanism 4, a translation mechanism 3 which drives the front end clamping mechanism 4 to horizontally move is arranged on the surface of the truss 2, torque sensors are arranged on rotating shafts of the horizontal dimension and the vertical dimension of the mechanical arm 7, when the device is used, the tail end and the front end of the mechanical arm 7 are respectively fixed inside the tail end clamping mechanism 6 and the front end clamping mechanism 4, the test of the horizontal dimension and the vertical dimension are matched, data statistics and separation are carried out on the terminal through numerical values of the torque sensors in the rotating shafts, and the weight and the wear degree which are born when the mechanical arm 7 rotates in the actual use processes are simulated through the counterweight mechanism 5.
In this embodiment, the tail end clamping mechanism 6 includes a mounting seat 61, the mounting seat 61 is fixed on the workbench 1, and a second motor 62 is fixed inside the mounting seat 61, a turntable 63 is rotatably mounted on the top of the mounting seat 61 through a bearing, the output end of the second motor 62 is fixed with the turntable 63, a moving groove 66 is formed in the surface of the turntable 63, two third clamping plates 64 are symmetrically and slidably connected inside the moving groove 66, a bidirectional screw rod 65 is rotatably mounted inside the moving groove 66 through a bearing, bottoms of the third clamping plates 64 are engaged and sleeved at two ends of the bidirectional screw rod 65, anti-slip patterns 67 are arranged on the inner side surface of the third clamping plates 64, the bidirectional screw rod 65 is rotated to drive the two third clamping plates 64 to move along the moving groove 66 to clamp the base of the mechanical arm 7, the second motor 62 is started to drive the turntable 63 and the base of the mechanical arm 7 to rotate, and the horizontal rotation dimension of the mechanical arm 7 is tested.
In this embodiment, the translation mechanism 3 includes a unidirectional screw rod 31, the top of the truss 2 is rotatably mounted with the unidirectional screw rod 31 through a bearing, a first motor 33 is fixed on one side of the truss 2, an output end of the first motor 33 is fixed with the unidirectional screw rod 31, an engagement plate 32 is engaged and sleeved on the surface of the unidirectional screw rod 31, a sliding frame 34 is fixed at the bottom of the engagement plate 32, the sliding frame 34 horizontally slides along the truss 2, the front end clamping mechanism 4 includes a storage frame 41, two sides of the sliding frame 34 are fixed with the storage frame 41, an extension plate 42 is slidably inserted in the storage frame 41, a first clamping plate 43 is fixed on an inner side surface of the bottom of the extension plate 42, an adjusting screw 45 is engaged and inserted on the outer side of the extension plate 42 corresponding to the first clamping plate 43, and adjusting screw 45 one end is connected with first splint 43 rotation through the bearing, install disc 44 through the bearing rotation on the inboard surface of first splint 43, and be provided with the rubber layer on the disc 44 surface, rotate adjusting screw 45 and drive first splint 43 and disc 44 and to arm 7 front end centre gripping, open first motor 33 and drive unidirectional screw 31 and turn to, meshing plate 32 and unidirectional screw 31 meshing drive sliding frame 34 and follow truss 2 and remove, arm 7 takes place folding or the style of expansion through the connecting rod effect this moment, and the synchronous rotation in disc 44 centre gripping position, stretch out plate 42 and take in frame 41 keep vertical, stretch out plate 42 and the change of arm 7 front end height stretches out and take in frame 41, and then simulate actual arm 7 vertical installation and use time, the epaxial pivot moment of torsion and the abrasion degree test of vertical direction.
In this embodiment, the counter weight mechanism 5 includes the installing frame 51, the position that arm 7 front end is close to and stretches out the board 42 cup joints installing frame 51, and the inside symmetry of installing frame 51 is equipped with two second splint 52, installing frame 51 corresponds the position at two second splint 52 tops and rotates through the bearing and install bi-directional screw 53, and second splint 52 top meshing cup joints on bi-directional screw 53 surface, all be fixed with projection 55 on the outer wall of installing frame 51 both sides, and projection 55 surface rotation cup joints swivel 56, swivel 56 both sides are fixed with hanging rope 57, and hanging rope 57 bottom is fixed with and place frame 58, place the inside balancing weight that can add of frame 58, one side that installing frame 51 is close to containing frame 41 is fixed with expansion plate 54, and the extension end of expansion plate 54 keeps the relation through the rotation of expansion plate 54 with containing frame 41 outer wall rotation, because containing frame 41 keeps vertical direction, therefore when arm 7 front end rotates, installing frame 51 keeps connecting with containing frame 53 through the extension of expansion plate 54 and rotation, and the rotation of holding frame 55 and placing the balancing weight that the side of expansion plate 54 is close to the side of placing frame 58, can not place the balancing weight in the two sides of the vertical direction of the holding frame 58, and place the inside can be placed in the holding frame 58, and can not place the side of the holding frame 58 and place the balancing weight through the effect of shaking the side of the two sides of the vertical holding frame 5.
When the device is used, the two-way screw rod 65 is rotated to drive the two third clamping plates 64 to move along the moving groove 66 to clamp the base of the mechanical arm 7, the rotating adjusting screw 45 drives the first clamping plates 43 and the disc 44 to clamp the front end of the mechanical arm 7, the first motor 33 is started to drive the one-way screw rod 31 to rotate, the meshing plate 32 is meshed with the one-way screw rod 31 to drive the sliding frame 34 to move along the truss 2, at the moment, the mechanical arm 7 is folded or unfolded through a connecting rod effect, the clamping part of the disc 44 synchronously rotates, the extending plate 42 and the containing frame 41 are kept vertical, the extending plate 42 is matched with the change of the front end height of the mechanical arm 7 to extend out of the containing frame 41, and then the rotating shaft torque and abrasion degree test in the vertical direction are simulated when the actual mechanical arm 7 is vertically installed and used, the second motor 62 is started to drive the turntable 63 and the base of the mechanical arm 7 to rotate, the horizontal rotating dimension of the mechanical arm 7 is tested, the numerical value of the torque sensor on the rotating shaft is transmitted to the terminal to carry out data statistics and separation, and the weight test and the weight degree is carried in the actual use process of the mechanical arm 7 is simulated through the weight mechanism 5.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (2)
1. Robot joint testing arrangement, including workstation (1), its characterized in that: the utility model discloses a sliding frame, including workstation (1), truss (2) are fixed on workstation (1) top, and one side is equipped with tail end fixture (6) on workstation (1) surface, and tail end fixture (6) top is installed arm (7), arm (7) bottom is rotated along tail end fixture (6), be equipped with on truss (2) front end fixture (4) fixed to arm (7) front end centre gripping, and front end fixture (4) one side is equipped with counter weight mechanism (5) to arm (7) front end counter weight simulation actual use sight, be equipped with translation mechanism (3) that drive front end fixture (4) horizontal migration on truss (2) surface, all install torque sensor in the pivot of horizontal and vertical dimension of arm (7), translation mechanism (3) are including unidirectional lead screw (31), truss (2) top is installed unidirectional lead screw (31) through the bearing rotation, and truss (2) one side is fixed with first motor (33), first motor (33) output and unidirectional lead screw (31) are fixed, on truss (2) surface meshing frame (32) have been cup jointed in the fixed frame (32) of sliding frame, and sliding frame (32) are meshed in the horizontal frame (32), front end fixture (4) is including accomodating frame (41), accomodate frame (41) are fixed with on the both sides of sliding frame (34), and accomodate frame (41) inside slip grafting and have extension board (42), be fixed with first splint (43) on the inside surface of extension board (42) bottom, extension board (42) correspond the outside meshing grafting of first splint (43) have adjusting screw (45), and adjusting screw (45) one end is connected with first splint (43) rotation through the bearing, install disc (44) through the bearing rotation on the inside surface of first splint (43), and disc (44) are provided with the rubber layer on the surface, counterweight mechanism (5) are including installing frame (51), the position that arm (7) front end is close to extension board (42) cup joints installing frame (51), and installing frame (51) inside symmetry is equipped with two second splint (52), the position at installation frame (51) top corresponds two second splint (52) is installed through the bearing rotation, and second splint (52) rotation installs disc (44) on the inside surface of first splint (55), boss (55) are all cup jointed on the fixed surface of boss (55), hanging ropes (57) are fixed to two sides of the swivel (56), a placing frame (58) is fixed to the bottoms of the hanging ropes (57), balancing weights can be added inside the placing frame (58), a telescopic plate (54) is fixed to one side, close to the containing frame (41), of the mounting frame (51), and the extending end of the telescopic plate (54) is connected with the outer wall of the containing frame (41) in a rotating mode through a rotating shaft.
2. The robotic joint testing device of claim 1, wherein: the tail end fixture comprises a mounting seat (61), the mounting seat (61) is fixed on a workbench (1), a second motor (62) is fixed inside the mounting seat (61), a rotary table (63) is installed at the top of the mounting seat (61) through bearing rotation, the output end of the second motor (62) is fixed with the rotary table (63), a movable groove (66) is formed in the surface of the rotary table (63), two third clamping plates (64) are symmetrically and slidingly connected inside the movable groove (66), a bidirectional screw rod (65) is installed inside the movable groove (66) through bearing rotation, the bottoms of the third clamping plates (64) are meshed and sleeved at two ends of the bidirectional screw rod (65), and anti-slip patterns (67) are formed in the inner side surface of the third clamping plates (64).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310859925.0A CN116604615B (en) | 2023-07-13 | 2023-07-13 | Robot joint testing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310859925.0A CN116604615B (en) | 2023-07-13 | 2023-07-13 | Robot joint testing device |
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| Publication Number | Publication Date |
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| CN116604615A CN116604615A (en) | 2023-08-18 |
| CN116604615B true CN116604615B (en) | 2023-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310859925.0A Active CN116604615B (en) | 2023-07-13 | 2023-07-13 | Robot joint testing device |
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|---|---|
| CN116604615A (en) | 2023-08-18 |
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